From 168f352287504626f2bc093157c67988bd368882 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Thu, 8 Aug 2019 12:41:23 -0600
Subject: [PATCH] Add fully extended pose: 'extended' (#39)
---
config/panda_arm_hand.srdf.xacro | 9 +++++++++
1 file changed, 9 insertions(+)
diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro
index 9e60335..774a103 100644
--- a/config/panda_arm_hand.srdf.xacro
+++ b/config/panda_arm_hand.srdf.xacro
@@ -27,6 +27,15 @@
<joint name="panda_joint6" value="1.571" />
<joint name="panda_joint7" value="0.785" />
</group_state>
+ <group_state name="extended" group="panda_arm_hand">
+ <joint name="panda_joint1" value="0" />
+ <joint name="panda_joint2" value="0" />
+ <joint name="panda_joint3" value="0" />
+ <joint name="panda_joint4" value="0" />
+ <joint name="panda_joint5" value="0" />
+ <joint name="panda_joint6" value="0" />
+ <joint name="panda_joint7" value="0.785" />
+ </group_state>
<group_state name="open" group="hand">
<joint name="panda_finger_joint1" value="0.035" />
<joint name="panda_finger_joint2" value="0.035" />
--
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